[PDF] Basic Robotics Course Module 5 Coding Based on Line Following

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Basic Robotics Course

Module 5

Coding Based on

Line Following Mode

2

In this chapter we shall learn:

1.What is line following?

2.Need for line follower robots.

3.Applications.

4.Projects -Line following mode.

Module 5 Lesson 1 Line Followers

You have all seen how ants travel.

They mostly travel in a line.

Ants ʹThe natural Line Followers

They follow an invisible route.

In search of food, or back home.

Watch the video ʹManmade line followers

https://youtu.be/WIlS3vNSuQ4 Line follower is a machine or a robot that can follow a defined path. The path can be visible like a black line on a white surface or the other way round. Sensing this line, the robot can stay on course, by constantly correcting wrong moves using feedback from its sensors.

What is a Line Follower

Typical Applications of Line Followers

How Does Line Following Work

It works on the principle of Infra Red (IR) light falling on a surface and recording the amount reflected by it. If the reflected amount is high, it can be deduced that the surface is close to white. If the reflected amount is less, it can be deduced that the surface is black.

Working Principle

line following sensor of mBot It is placed at the bottom of mBot with the two sensors facing downwards. Each sensor has one IR transmitter and one IR receiver in it. Both transmitters emit IR light continuously during their move.

IR receivers in turn receive the reflected light.

How does mBot make use of this Sensor?

While moving mBot keeps measuring the amount of reflected IR light thus remaining on the black line.

In so doing, three situations could arise:

1.If it senses it is on a black line, it keeps moving forward.

2.If it begins to deviate from the black line, it takes immediate corrective actions by turning left

or right to help it remain on the black line.

3.If it is not on the black line, it takes action to find the black line or stop.

So how does it work?

If mBot is over black surface, the IR receiver will receive less light and output value 0.

Based on this, mBot will keep moving.

If mBot is over white surface, the IR receiver will receive more light and output value 1. When mBot gets value 1, it knows it has gone out of the black and starts taking corrective action to get it back over the black line.

Converting sensor inputs to action

Both mBot sensors on

black line. Sensor output given ʹ0. mBot keeps moving straight. Sensor not receiving IR signal. Output 0Sensor could receive IR signal. Outputs 1, 2 & 3

Converting sensor inputs to action

Both mBot sensors on

black line. Sensor output given ʹ0. mBot keeps moving straight.

Rt sensor moves out of

black line. Sensor output given ʹ1. Bot tries to move left. Sensor not receiving IR signal. Output 0Sensor could receive IR signal. Outputs 1, 2 & 3

Converting sensor inputs to action

Both mBot sensors on

black line. Sensor output given ʹ0. mBot keeps moving straight.

Rt sensor moves out of

black line. Sensor output given ʹ1. Bot tries to move left.

Left sensor moves out of

black line. Sensor output given ʹ2. Bot tries to move right. Sensor not receiving IR signal. Output 0Sensor could receive IR signal. Outputs 1, 2 & 3

Converting sensor inputs to action

Both mBot sensors on

black line. Sensor output given ʹ0. mBot keeps moving straight.

Rt sensor moves out of

black line. Sensor output given ʹ1. Bot tries to move left.

Left sensor moves out of

black line. Sensor output given ʹ2. Bot tries to move right.

Both sensors out of black

line. Sensor output given ʹ

3. Bot turns back to find

black line. Sensor not receiving IR signal. Output 0Sensor could receive IR signal. Outputs 1, 2 & 3

Getting Out of Black line

1.In the last slide we had seen the right sensor had gone out of the line.

2.To get it back the left sensor was trying to turn it to the left.

Getting Out of Black line

1.In the last slide we had seen the right sensor had gone out of the line.

2.To get it back the left sensor was trying to turn it to the left.

3.Let us assume for some reason the left sensor also goes out of the black

line.

4.If this happens the mBot will stop.

Getting it Back

1.To get it back mBot will have to be programed to do so.

2.To do this we need to programme both the sensors to keep attempting

to turn it to the direction of the last attempt at correcting the direction of movement.

Getting it Back

1.To get it back mBot will have to be programed to do so.

2.To do this we need to programme both the sensors to keep attempting

to turn it to the direction of the last attempt at correcting the direction of movement.

3.Since the last attempt was at moving it to the left, we must now

programme it to continue doing so.

4.Now when the left sensor again identifies a black line it will stop this

attempt and start moving straight.

5.Doing this is what coding is all about.

Module 5 Lesson 2

Selection of Line

Following Mode

This mode is selected by clicking on button C.

Option -1

Line Following

Mode

On Board Button

Press on board button till LED turns Blue

Option -2

Let us start coding

Project 1 ʹSimple Line Following

Project 2 ʹmBot plays music while following a line Project 3 ʹmBot follows a line and avoids an obstacle as well

Thanks

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